Energid is creating an information-based robotic grasping framework to enable practical grasping of objects for any robotic manipulator and any robotic hand, or even multiple hands. Grasp algorithms are stored in an XML database organized in a tree structure that allows rapid access and uses intelligent caching for very large databases. When a new object is presented to the grasping system, best matches are found in the database and the corresponding algorithms are extrapolated to determine the best grasp for the new object. Shape, surface properties, and articulation are used for matching.

Our grasping framework will have broad impact to research, industry, and society. Traditional grasping systems require specialized coding for new tasks and new robots. The system proposed here will facilitate specific instantiations of general grasping algorithms. Application to virtually any robot manipulator, any hand, and any object to be grasped will be possible. This unprecedented flexibility, coupled with advanced and innovative grasping algorithms will play a role in advancing general purpose robots (those that can do multiple tasks without reprogramming).